仿牛鼻鲼机器鱼胸鳍的时间非对称摆动研究  

Research on Pectoral Fins Oscillating Asymmetrically in Time of a Cownose-like Robotic Fish

作　　者：杨少波[1] 韩小云[1] 邱静[1] 谢海斌[1] 

机构地区：[1]国防科学技术大学,长沙410073

出　　处：《中国机械工程》2011年第5期588-591,596,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50405006);国防科学技术大学博士研究生创新基金资助项目(B060302)

摘　　要：针对以胸鳍升力模式推进的牛鼻鲼在胸鳍扇动时存在时间上的非对称摆动问题,分析了牛鼻鲼这一泳动特征的力学含义,并通过仿牛鼻鲼机器鱼开展了时间非对称摆动的研究。首先建立了时间非对称摆动的数学模型;然后在一系列的不对称系数下进行了机器鱼的泳动实验,发现存在一个不对称系数的较佳范围,并且当不对称系数为0.56时,机器鱼的泳动速度最大;最后通过机器鱼的水动力实验研究,讨论了不对称系数对水动力的影响规律。结果表明,牛鼻鲼在实际游动过程中通过上挥急回的方式拍动,特别是经常以不对称系数0.56工况方式扇动,可以获得更好的推进性能。Before the asymmetrical oscillation in time of Cownose-like robotic fish was discussed,the mechanic hint behind the swimming behavior was analysed.Firstly,a mathematic model of the fin rays oscillating asymmetrically in time was set up;secondly,the swimming experiments of the robotic fish with a series of asymmetric coefficients were made,and the results show that it exits a better range of asymmetric coefficients,and while asymmetric coefficients is 0.56,the robotic fish attains the best forward velocity.Finally,the hydrodynamic force of the robotic fish with these asymmetric coefficients was tested,and the relations among each other were discussed.These results will reveal that the attention of the swimming behavior of Cownose ray may improve the propulsive,especially in the case of oscillating with the 0.56 of asymmetric coefficient.

关 键 词：胸鳍升力模式 牛鼻鲼 机器鱼 时间非对称摆动 水动力 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]